#include <xDriveModel.hpp>

Inheritance diagram for okapi::XDriveModel:

Public Member Functions
	XDriveModel (std::shared_ptr< AbstractMotor > itopLeftMotor, std::shared_ptr< AbstractMotor > itopRightMotor, std::shared_ptr< AbstractMotor > ibottomRightMotor, std::shared_ptr< AbstractMotor > ibottomLeftMotor, std::shared_ptr< ContinuousRotarySensor > ileftEnc, std::shared_ptr< ContinuousRotarySensor > irightEnc, double imaxVelocity, double imaxVoltage)
	Model for an x drive (wheels at 45 deg from a skid steer drive).

void	forward (double ipower) override
	Drive the robot forwards (using open-loop control).

void	driveVector (double iforwardSpeed, double iyaw) override
	Drive the robot in an arc (using open-loop control).

void	driveVectorVoltage (double iforwardSpeed, double iyaw) override
	Drive the robot in an arc.

void	rotate (double ipower) override
	Turn the robot clockwise (using open-loop control).

void	strafe (double ipower)
	Drive the robot side-ways (using open-loop control) where positive ipower is to the right and negative ipower is to the left.

void	strafeVector (double istrafeSpeed, double iyaw)
	Strafe the robot in an arc (using open-loop control) where positive istrafeSpeed is to the right and negative istrafeSpeed is to the left.

void	stop () override
	Stop the robot (set all the motors to 0).

void	tank (double ileftSpeed, double irightSpeed, double ithreshold=0) override
	Drive the robot with a tank drive layout.

void	arcade (double iforwardSpeed, double iyaw, double ithreshold=0) override
	Drive the robot with an arcade drive layout.

void	curvature (double iforwardSpeed, double icurvature, double ithreshold=0) override
	Drive the robot with a curvature drive layout.

virtual void	xArcade (double irightSpeed, double iforwardSpeed, double iyaw, double ithreshold=0)
	Drive the robot with an arcade drive layout.

virtual void	fieldOrientedXArcade (double ixSpeed, double iySpeed, double iyaw, QAngle iangle, double ithreshold=0)
	Drive the robot with a field-oriented arcade drive layout.

void	left (double ispeed) override
	Power the left side motors.

void	right (double ispeed) override
	Power the right side motors.

std::valarray< std::int32_t >	getSensorVals () const override
	Read the sensors.

void	resetSensors () override
	Reset the sensors to their zero point.

void	setBrakeMode (AbstractMotor::brakeMode mode) override
	Set the brake mode for each motor.

void	setEncoderUnits (AbstractMotor::encoderUnits units) override
	Set the encoder units for each motor.

void	setGearing (AbstractMotor::gearset gearset) override
	Set the gearset for each motor.

void	setMaxVelocity (double imaxVelocity) override
	Sets a new maximum velocity in RPM.

double	getMaxVelocity () const override

void	setMaxVoltage (double imaxVoltage) override
	Sets a new maximum voltage in mV in the range `[0-12000]`.

double	getMaxVoltage () const override

std::shared_ptr< AbstractMotor >	getTopLeftMotor () const
	Returns the top left motor.

std::shared_ptr< AbstractMotor >	getTopRightMotor () const
	Returns the top right motor.

std::shared_ptr< AbstractMotor >	getBottomRightMotor () const
	Returns the bottom right motor.

std::shared_ptr< AbstractMotor >	getBottomLeftMotor () const
	Returns the bottom left motor.

Public Member Functions inherited from okapi::ChassisModel
	ChassisModel ()=default

	ChassisModel (const ChassisModel &)=delete

ChassisModel &	operator= (const ChassisModel &)=delete

Public Member Functions inherited from okapi::ReadOnlyChassisModel
virtual	~ReadOnlyChassisModel ()=default

Protected Attributes
double	maxVelocity

double	maxVoltage

std::shared_ptr< AbstractMotor >	topLeftMotor

std::shared_ptr< AbstractMotor >	topRightMotor

std::shared_ptr< AbstractMotor >	bottomRightMotor

std::shared_ptr< AbstractMotor >	bottomLeftMotor

std::shared_ptr< ContinuousRotarySensor >	leftSensor

std::shared_ptr< ContinuousRotarySensor >	rightSensor

Detailed Description

Definition at line 14 of file xDriveModel.hpp.

Constructor & Destructor Documentation

◆ XDriveModel()

okapi::XDriveModel::XDriveModel	(	std::shared_ptr< AbstractMotor >	itopLeftMotor,
		std::shared_ptr< AbstractMotor >	itopRightMotor,
		std::shared_ptr< AbstractMotor >	ibottomRightMotor,
		std::shared_ptr< AbstractMotor >	ibottomLeftMotor,
		std::shared_ptr< ContinuousRotarySensor >	ileftEnc,
		std::shared_ptr< ContinuousRotarySensor >	irightEnc,
		double	imaxVelocity,
		double	imaxVoltage
	)

Model for an x drive (wheels at 45 deg from a skid steer drive).

When all motors are powered +100%, the robot should move forward in a straight line.

Parameters

itopLeftMotor	The top left motor.
itopRightMotor	The top right motor.
ibottomRightMotor	The bottom right motor.
ibottomLeftMotor	The bottom left motor.
ileftEnc	The left side encoder.
irightEnc	The right side encoder.

Member Function Documentation

◆ arcade()

void okapi::XDriveModel::arcade	(	double	iforwardSpeed,
		double	iyaw,
		double	ithreshold = `0`
	)

overridevirtual

Drive the robot with an arcade drive layout.

Uses voltage mode.

Parameters

iforwardSpeed	speed in the forward direction
iyaw	speed around the vertical axis
ithreshold	deadband on joystick values

Implements okapi::ChassisModel.

◆ curvature()

void okapi::XDriveModel::curvature	(	double	iforwardSpeed,
		double	icurvature,
		double	ithreshold = `0`
	)

overridevirtual

Drive the robot with a curvature drive layout.

The robot drives in constant radius turns where you control the curvature (inverse of radius) you drive in. This is advantageous because the forward speed will not affect the rate of turning. The algorithm switches to arcade if the forward speed is 0. Uses voltage mode.

Parameters

iforwardSpeed	speed forward direction
icurvature	curvature (inverse of radius) to drive in
ithreshold	deadband on joystick values

Implements okapi::ChassisModel.

◆ driveVector()

void okapi::XDriveModel::driveVector	(	double	iforwardSpeed,
		double	iyaw
	)

overridevirtual

Drive the robot in an arc (using open-loop control).

Uses velocity mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

Parameters

iforwardSpeed	speed in the forward direction
iyaw	speed around the vertical axis

Implements okapi::ChassisModel.

◆ driveVectorVoltage()

void okapi::XDriveModel::driveVectorVoltage	(	double	iforwardSpeed,
		double	iyaw
	)

overridevirtual

Drive the robot in an arc.

Uses voltage mode. The algorithm is (approximately): leftPower = forwardSpeed + yaw rightPower = forwardSpeed - yaw

Parameters

iforwadSpeed	speed in the forward direction
iyaw	speed around the vertical axis

Implements okapi::ChassisModel.

◆ fieldOrientedXArcade()

virtual void okapi::XDriveModel::fieldOrientedXArcade	(	double	ixSpeed,
		double	iySpeed,
		double	iyaw,
		QAngle	iangle,
		double	ithreshold = `0`
	)

virtual

Drive the robot with a field-oriented arcade drive layout.

Uses voltage mode. For example: Both fieldOrientedXArcade(1, 0, 0, 0_deg) and fieldOrientedXArcade(1, 0, 0, 90_deg) will drive the chassis in the forward/north direction. In other words, no matter the robot's heading, the robot will move forward/north when you tell it to move forward/north and will move right/east when you tell it to move right/east.

Parameters

ixSpeed	forward speed – (`+1`) forward, (`-1`) backward
iySpeed	sideways speed – (`+1`) right, (`-1`) left
iyaw	turn speed – (`+1`) clockwise, (`-1`) counter-clockwise
iangle	current chassis angle (`0_deg` = no correction, winds clockwise)
ithreshold	deadband on joystick values

◆ forward()

void okapi::XDriveModel::forward ( double ipower )

overridevirtual

Drive the robot forwards (using open-loop control).

Uses velocity mode.

Parameters

ispeed motor power

Implements okapi::ChassisModel.

◆ getBottomLeftMotor()

std::shared_ptr< AbstractMotor > okapi::XDriveModel::getBottomLeftMotor ( ) const

Returns the bottom left motor.

Returns: the bottom left motor

◆ getBottomRightMotor()

std::shared_ptr< AbstractMotor > okapi::XDriveModel::getBottomRightMotor ( ) const

Returns the bottom right motor.

Returns: the bottom right motor

◆ getMaxVelocity()

double okapi::XDriveModel::getMaxVelocity ( ) const

overridevirtual

Returns: The current maximum velocity.

Implements okapi::ChassisModel.

◆ getMaxVoltage()

double okapi::XDriveModel::getMaxVoltage ( ) const

overridevirtual

Returns: The maximum voltage in mV in the range [0-12000].

Implements okapi::ChassisModel.

◆ getSensorVals()

std::valarray< std::int32_t > okapi::XDriveModel::getSensorVals ( ) const

overridevirtual

Read the sensors.

Returns: sensor readings in the format {left, right}

Implements okapi::ReadOnlyChassisModel.

◆ getTopLeftMotor()

std::shared_ptr< AbstractMotor > okapi::XDriveModel::getTopLeftMotor ( ) const

Returns the top left motor.

Returns: the top left motor

◆ getTopRightMotor()

std::shared_ptr< AbstractMotor > okapi::XDriveModel::getTopRightMotor ( ) const

Returns the top right motor.

Returns: the top right motor

◆ left()

void okapi::XDriveModel::left ( double ispeed )

overridevirtual

Power the left side motors.

Uses velocity mode.

Parameters

ispeed The motor power.

Implements okapi::ChassisModel.

◆ resetSensors()

void okapi::XDriveModel::resetSensors ( )

overridevirtual

Reset the sensors to their zero point.

Implements okapi::ChassisModel.

◆ right()

void okapi::XDriveModel::right ( double ispeed )

overridevirtual

Power the right side motors.

Uses velocity mode.

Parameters

ispeed The motor power.

Implements okapi::ChassisModel.

◆ rotate()

void okapi::XDriveModel::rotate ( double ipower )

overridevirtual

Turn the robot clockwise (using open-loop control).

Uses velocity mode.

Parameters

ipower motor power

Implements okapi::ChassisModel.

◆ setBrakeMode()

void okapi::XDriveModel::setBrakeMode ( AbstractMotor::brakeMode mode )

overridevirtual

Set the brake mode for each motor.

Parameters

mode	new brake mode

Implements okapi::ChassisModel.

◆ setEncoderUnits()

void okapi::XDriveModel::setEncoderUnits ( AbstractMotor::encoderUnits units )

overridevirtual

Set the encoder units for each motor.

Parameters

units new motor encoder units

Implements okapi::ChassisModel.

◆ setGearing()

void okapi::XDriveModel::setGearing ( AbstractMotor::gearset gearset )

overridevirtual

Set the gearset for each motor.

Parameters

gearset new motor gearset

Implements okapi::ChassisModel.

◆ setMaxVelocity()

void okapi::XDriveModel::setMaxVelocity ( double imaxVelocity )

overridevirtual

Sets a new maximum velocity in RPM.

The usable maximum depends on the maximum velocity of the currently installed gearset. If the configured maximum velocity is greater than the attainable maximum velocity from the currently installed gearset, the ChassisModel will still scale to that velocity.

Parameters

imaxVelocity The new maximum velocity.

Implements okapi::ChassisModel.

◆ setMaxVoltage()

void okapi::XDriveModel::setMaxVoltage ( double imaxVoltage )

overridevirtual

Sets a new maximum voltage in mV in the range [0-12000].

Parameters

imaxVoltage The new maximum voltage.

Implements okapi::ChassisModel.

◆ stop()

void okapi::XDriveModel::stop ( )

overridevirtual

Stop the robot (set all the motors to 0).

Uses velocity mode.

Implements okapi::ChassisModel.

◆ strafe()

void okapi::XDriveModel::strafe ( double ipower )

Drive the robot side-ways (using open-loop control) where positive ipower is to the right and negative ipower is to the left.

Uses velocity mode.

Parameters

ispeed motor power

◆ strafeVector()

void okapi::XDriveModel::strafeVector	(	double	istrafeSpeed,
		double	iyaw
	)

Strafe the robot in an arc (using open-loop control) where positive istrafeSpeed is to the right and negative istrafeSpeed is to the left.

Uses velocity mode. The algorithm is (approximately): topLeftPower = -1 * istrafeSpeed + yaw topRightPower = istrafeSpeed - yaw bottomRightPower = -1 * istrafeSpeed - yaw bottomLeftPower = istrafeSpeed + yaw

Parameters

istrafeSpeed	speed to the right
iyaw	speed around the vertical axis

◆ tank()

void okapi::XDriveModel::tank	(	double	ileftSpeed,
		double	irightSpeed,
		double	ithreshold = `0`
	)

overridevirtual

Drive the robot with a tank drive layout.

Uses voltage mode.

Parameters

ileftSpeed	left side speed
irightSpeed	right side speed
ithreshold	deadband on joystick values

Implements okapi::ChassisModel.

◆ xArcade()

virtual void okapi::XDriveModel::xArcade	(	double	irightSpeed,
		double	iforwardSpeed,
		double	iyaw,
		double	ithreshold = `0`
	)

virtual

Drive the robot with an arcade drive layout.

Uses voltage mode.

Parameters

irightSpeed	speed to the right
iforwardSpeed	speed in the forward direction
iyaw	speed around the vertical axis
ithreshold	deadband on joystick values

Member Data Documentation

◆ bottomLeftMotor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::bottomLeftMotor

protected

Definition at line 269 of file xDriveModel.hpp.

◆ bottomRightMotor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::bottomRightMotor

protected

Definition at line 268 of file xDriveModel.hpp.

◆ leftSensor

std::shared_ptr<ContinuousRotarySensor> okapi::XDriveModel::leftSensor

protected

Definition at line 270 of file xDriveModel.hpp.

◆ maxVelocity

double okapi::XDriveModel::maxVelocity

protected

Definition at line 264 of file xDriveModel.hpp.

◆ maxVoltage

double okapi::XDriveModel::maxVoltage

protected

Definition at line 265 of file xDriveModel.hpp.

◆ rightSensor

std::shared_ptr<ContinuousRotarySensor> okapi::XDriveModel::rightSensor

protected

Definition at line 271 of file xDriveModel.hpp.

◆ topLeftMotor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::topLeftMotor

protected

Definition at line 266 of file xDriveModel.hpp.

◆ topRightMotor

std::shared_ptr<AbstractMotor> okapi::XDriveModel::topRightMotor

protected

Definition at line 267 of file xDriveModel.hpp.

The documentation for this class was generated from the following file:

include/okapi/api/chassis/model/xDriveModel.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ XDriveModel()

Member Function Documentation

◆ arcade()

◆ curvature()

◆ driveVector()

◆ driveVectorVoltage()

◆ fieldOrientedXArcade()

◆ forward()

◆ getBottomLeftMotor()

◆ getBottomRightMotor()

◆ getMaxVelocity()

◆ getMaxVoltage()

◆ getSensorVals()

◆ getTopLeftMotor()

◆ getTopRightMotor()

◆ left()

◆ resetSensors()

◆ right()

◆ rotate()

◆ setBrakeMode()

◆ setEncoderUnits()

◆ setGearing()

◆ setMaxVelocity()

◆ setMaxVoltage()

◆ stop()

◆ strafe()

◆ strafeVector()

◆ tank()

◆ xArcade()

Member Data Documentation

◆ bottomLeftMotor

◆ bottomRightMotor

◆ leftSensor

◆ maxVelocity

◆ maxVoltage

◆ rightSensor

◆ topLeftMotor

◆ topRightMotor